CN108789454A - The control system of automobile with mechanical arm - Google Patents
The control system of automobile with mechanical arm Download PDFInfo
- Publication number
- CN108789454A CN108789454A CN201810941001.4A CN201810941001A CN108789454A CN 108789454 A CN108789454 A CN 108789454A CN 201810941001 A CN201810941001 A CN 201810941001A CN 108789454 A CN108789454 A CN 108789454A
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- Prior art keywords
- mechanical arm
- button
- control
- arm
- function
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the control systems of the automobile with mechanical arm, including mechanical arm, operating side, control gloves, data processing centre and mechanical arm control centre；It includes palm portion, small arm section, big arm section and fixed part to control gloves；Palm portion is internally provided with mechanical arm start button, function control button, function continue working button and Memory control button；Control gloves are internally provided with multiple sensors；The data processing centre includes information receiving unit, information process unit and instruction morphing unit.The present invention is by controlling the activity of gloves simulation arm and controlling operating side, mechanical arm can not only be enable to complete complicated operation as hand, it can be controlled simultaneously according to the concrete operations completed required for operating side, the single of mechanical arm and operating side can be achieved, continue, multiple working in reciprocating mode process, manual labor is greatly reduced, the working efficiency of mechanical arm is improved.
Description
Technical field
The invention belongs to automobile technical fields, and in particular to the control system of the automobile with mechanical arm.
Background technology
Automobile is one of existing currently the most important ones vehicles, is closely connected together with the Working Life of the mankind, now such as
The present has become an indispensable part in people's life.With the continuous popularization and innovation of automobile, in order to provide automobile
Functionality, solve the problems, such as that people are various in traffic, live and work, there now have been many spies for carrying mechanical arm
Kind automobile, such as crane, excavator, the control system of these automobiles is usually various operating levers and operation button, is being controlled
When mechanical arm is worked, the rocking bar and button that manipulate various complexity are generally required, it is not only complicated for operation, waste human resources
With the operating time, cause the working efficiency of mechanical arm relatively low, also there is certain technology requirement to manipulator, be not everyone
Mechanical arm can be operated, and mechanical arm now is had a single function, control operating system also can be only done machinery
The single operation function of arm.
In recent years, human-computer interaction technology is quickly grown, and human-computer interaction is mainly that the various rows of people are identified by relevant device
It is equal to computer virtual environment for action, body gesture and carries out interactive, the functions such as realization game, operation training, body-building, wherein catching
The activity for obtaining human body is key point.Nowadays there is the skill controlled mechanical arm by human-computer interaction technology
Art, the movement by capturing human arm controls mechanical arm, but when controlling the technology, needs the arm of people
It is moved always, although mechanical arm is allow to complete the operation of many complexity, wastes human resources significantly so that
Mechanical arm is at work, it is still desirable to which arm is operated.
Invention content
It in view of the deficiencies of the prior art, should it is an object of the invention to propose the control system of the automobile with mechanical arm
Control system can not only enable mechanical arm as hand one by controlling the activity of gloves simulation arm and controlling mechanical arm
Sample completes complicated operation, while can be controlled according to the concrete operations completed required for mechanical arm, it can be achieved that mechanical arm
Single continues, multiple working in reciprocating mode process, greatly reduces manual labor, improves the working efficiency of mechanical arm.
To achieve the above object, the technical solution adopted in the present invention is：
The control system of automobile with mechanical arm, including mechanical arm, operating side, control machinery arm control gloves, number
According to processing center and mechanical arm control centre, the data processing centre and mechanical arm control centre are described by connection
Operating side is located at the end of mechanical arm；
The control gloves include palm portion, small arm section, big arm section and fixed part, and the control gloves pass through
Fixed part is fixed on the person；It is equipped with mechanical arm start button in the thumb set of the palm portion, is equipped in index finger cover
Function control button is equipped with function continue working button in middle fingerstall, Memory control button is equipped in nameless；The palmar hand
Center, small arm section, big arm section, palm portion and forearm portion connection, small arm section and the large arm portion connection divided
And the junction of big arm section and fixed part is equipped with the sensor for monitoring arm motion information, the movable information
Angular speed including human body palm, forearm, large arm, wrist, ancon and shoulder and acceleration；The fixed part includes shoulder packet
Band and prevent the fixation bandage that mechanical arm falls off；
The mechanical arm start button is used for the unlatching of control machinery arm；
The function control button is used to control the single operation of operating side；
The function continue working button is used to control the ongoing operation of operating side；Press for singular time function continue working by
When button, operating side continue working, mechanical arm simulates arm work；When function continue working button is pressed in even numbers time, operation supports
Continuous work, mechanical arm stop simulation arm work；
The Memory control button is used to record the work of a period of mechanical arm and operating side and repeats the time
The work of section；Odd number presses work(Memory control button and starts to record the work of mechanical arm and operating side, and even numbers time is pressed
The work of dynamic Memory control button stop recording mechanical arm and operating side simultaneously carries out reciprocating operation to the work of record；
The mechanical arm start button, function control button, function continue working button, Memory control button and each biography
Sensor is connected with data processing centre；The data processing centre includes for receiving mechanical arm start button, function control
The letter for the movable information that button, function continue working button, the button information of Memory control button and each sensor detect
Cease receiving unit, for treatment button information and movable information information process unit and will treated that information is converted into machinery
The instruction morphing unit of arm instruction, mechanical arm control centre receive instruction morphing unit and control mechanical arm.
Further, the mechanical arm start button, function control button, function continue working button, Memory control
Button and each sensor are embedded in the inside of control gloves.
Further, the mechanical arm start button, function control button, function continue working button, Memory control
Button and each sensor are wirelessly connected with information receiving unit.
Further, the shoulder band is equipped with accumulator and the charging interface for charging a battery；It is described
Mechanical arm start button, function control button, function continue working button, Memory control button and each sensor are and electric power storage
Pond is connected by electric wire, inside the embedded control gloves of the electric wire.
Further, the fixed bandage is equipped with the adjusting buckle for adjusting fixed bandage elasticity.
Further, the data processing centre and mechanical arm control centre are respectively positioned on automotive interior, the mechanical arm
It is fixed on automobile external.
The beneficial effects of the invention are as follows：
(1) present invention passes through number by the movable information of each sensor real-time capture human body mobile phone in control gloves
Movable information is handled according to processing center and is converted to corresponding control instruction and is sent to mechanical arm control centre, mechanical arm
Control centre's control machinery arm completes the action that human arm is completed, and mechanical arm can be realized as human arm more multiple
Miscellaneous operational motion so that mechanical arm is more flexible, improves the working efficiency of mechanical arm；Enormously simplify control of the people to mechanical arm
System reduces traditional operation platform, control lever or the complex control for manipulating key；The present invention is not required to the operation very simple of mechanical arm
Want professional technician that can operate, the personnel that any need controls the mechanical arm can operate, and substantially increase
The general applicability of the mechanical arm and the mechanical arm control system has stronger market effect and economic prospect；
(2) control to mechanical arm different working condition can be achieved in the present invention, and pressing function control button by index finger can
Realize the single motion of the operating side of mechanical arm；The operating side of function continue working button realization mechanical arm is pressed by middle finger
Continue working allows operating side continue working, mechanical arm to simulate arm work wherein odd number presses function continue working button,
Function continue working button is pressed in even numbers time, and operating side continue working, mechanical arm is allowed to stop simulation arm work；Pass through the third finger
Memory control button is pressed twice and remembers an action process automatically by mechanical arm, and repeats the process, is pressing memory twice
It is grasped during realizing mechanical arm working in reciprocating mode in combination with function control button and function continue working button during control button
Make the different working method in end；The present invention is controlled by a variety of working conditions to mechanical arm, is controlling the mechanical arm
When work, the operating side of mechanical arm and mechanical arm can be controlled by a variety of working conditions according to specific need of work,
Especially when needing mechanical arm to carry out continue working or reciprocation cycle work, the manipulation frequency of people is greatly reduced, machine is avoided
Personnel need to control at any time tool arm at work, and manpower labour is greatly saved.
Description of the drawings
Fig. 1 is the structural schematic diagram for controlling gloves；
Fig. 2 is the control flow schematic diagram of the control system.
In figure：1, palm portion；2, small arm section；3, big arm section；4, shoulder band；5, accumulator；6, fixed bandage；
6-1, adjusting buckle；7, mechanical arm start button；8, function control button；9, function continue working button；10, Memory control is pressed
Button；11, sensor.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention is made into one below in conjunction with the accompanying drawings
Step illustrates.
In the present embodiment, as illustrated in fig. 1 and 2, the control system of the automobile of mechanical arm, including mechanical arm, operation are carried
End, the control gloves of control machinery arm, data processing centre and mechanical arm control centre, the data processing centre and mechanical arm
Control centre is located at the end of mechanical arm by connection, the operating side；
The control gloves include palm portion 1, small arm section 2, big arm section 3 and fixed part, the control gloves
It is fixed on the person by fixed part；It is equipped with mechanical arm start button 7, index finger cover in the thumb set of the palm portion 1
In be equipped with function control button 8, function continue working button 9 is equipped in middle fingerstall, Memory control button 10 is equipped in nameless；
The center of the palm portion 1, small arm section 2, big arm section 3, palm portion 1 and 2 junction of small arm section, small arm section 2
It is equipped with 3 junction of big arm section and big arm section 3 and the junction of fixed part for monitoring arm motion information
Sensor 11, the movable information include the angular speed and acceleration of human body palm, forearm, large arm, wrist, ancon and shoulder；
The fixed part includes shoulder band 4 and the fixation bandage 6 that prevents mechanical arm from falling off；
The mechanical arm start button 7 is used for the unlatching of control machinery arm；
The function control button 8 is used to control the single operation of operating side；
The function continue working button 9 is used to control the ongoing operation of operating side；Odd number presses function continue working
When button 9, operating side continue working, mechanical arm simulates arm work；When function continue working button 9 is pressed in even numbers time, operation
Continue working, mechanical arm is held to stop simulation arm work；
When the Memory control button 10 is used to record the work of a period of mechanical arm and operating side and repeats this
Between section work；Odd number presses work(Memory control button and starts to record the work of mechanical arm and operating side, even numbers time
It presses the work of Memory control button stop recording mechanical arm and operating side and reciprocating operation is carried out to the work of record；
The mechanical arm start button 7, function control button 8, function continue working button 9,10 and of Memory control button
Each sensor 11 is connected with data processing centre；The data processing centre include for receive mechanical arm start button 7,
Function control button 8, function continue working button 9, the button information of Memory control button 10 and each sensor 11 detect
Movable information information receiving unit, for treatment button information and movable information information process unit and will treated
Information is converted into the instruction morphing unit of mechanical arm instruction, and mechanical arm control centre receives instruction morphing unit and carried out to mechanical arm
Control.
As a kind of prioritization scheme of the present invention, the mechanical arm start button 7, function control button 8, function continue work
Make the inside that button 9, Memory control button 10 and each sensor 11 are embedded in control gloves.
As a kind of prioritization scheme of the present invention, the mechanical arm start button 7, function control button 8, function continue work
Make button 9, Memory control button 10 and each sensor 11 to be wirelessly connected with information receiving unit.
As a kind of prioritization scheme of the present invention, the shoulder band 4 is equipped with accumulator 5 and for being filled to accumulator 5
The charging interface of electricity；The mechanical arm start button 7, function control button 8, function continue working button 9, Memory control button
10 and each sensor 11 connect by electric wire with accumulator 5, inside the embedded control gloves of the electric wire.
As a kind of prioritization scheme of the present invention, the fixed bandage 6 is equipped with for adjusting 6 elasticity of fixed bandage
Adjusting buckle 6-1.
As a kind of prioritization scheme of the present invention, the data processing centre and mechanical arm control centre are respectively positioned in automobile
Portion, the mechanical arm are fixed on automobile external.
When specifically used, control gloves are worn on arm the present invention by manipulator, palm, forearm, large arm and shoulder portion
Not Wei Yu corresponding region, be bundled in manipulator by fixed bandage 6, by adjusting buckle 6-1, allow control gloves and people
Arm is in close contact, and is avoided control gloves from occurring sliding or loosening on arm, is influenced control effect；It is grasped to mechanical arm
Before control, check whether accumulator 5 charges, ensure mechanical arm start button 7, function control button 8, function continue working button 9,
Memory control button 10 and each sensor 11 are excellent；Then by pressing the various different function in palm portion 1
Button the specific works of operating side are controlled.
Mechanical arm start button 7 is pressed, mechanical arm start button 7 is transferred to information receiving unit, information by information is started
Processing unit is converted into mechanical arm by instruction converting unit after being handled information data and instructs, mechanical arm control centre
Control machinery arm is instructed to start by the mechanical arm received, mechanical arm starts the control for being controlled gloves, at this time palmar hand
Point 1, small arm section 2, big arm section 3, at wrist, the sensor at ancon, shoulder start to monitor the movable information of arm in real time,
Then the movable information of arm is radioed into information receiving unit, after information process unit is handled movable information
Mechanical arm instruction is converted to by instruction converting unit, mechanical arm control centre instructs control machinery by the mechanical arm received
Arm simulates the movement campaign of the arm of people；When needing control of the closing control gloves to mechanical arm, machinery is pressed again
Arm start button 7；
When needing each action to the operating side of mechanical arm to control or each action is along with whole
When a mechanical arm carries out different movements, mechanical arm is simulated by controlling gloves, data processing centre and mechanical arm control centre
Arm is moved, and presses function control button 8, data processing centre and mechanical arm control centre by the letter of function control button
Breath sends out mechanical arm instruction after being handled and being converted to the operating side of mechanical arm, and the operating side of control machinery arm is completed accordingly
Operation；Operating side completes just to stop after once-through operation, if thinking, controlling operating side again works, and needs to press function again
Control button 8；
When needing to realize that the operating side of mechanical arm carries out lasting work, mechanical arm is by controlling gloves, data processing
Center and mechanical arm control centre simulation arm are moved, and odd number presses function continue working button 9, and mechanical arm simulates hand
Arm is moved, and the information of function continue working button 9 is handled and turned by data processing centre and mechanical arm control centre
After change to mechanical arm send out mechanical arm instruct control machinery arm operating side carry out continue working, mechanical arm while activity,
Operating side keeps continue working；Function continue working button 9 is pressed in even numbers time, and mechanical arm stops the activity of simulation arm, machinery
Arm is kept fixed, and operating side keeps continue working state at this time；To stop operation the continue working state at end, then machinery is pressed
Arm start button 7；
When needing entire mechanical arm to be automatically performed some reciprocal work, Memory control button 10, Memory control are pressed
Button 10 starts to remember the work of some period of entire mechanical arm, may be selected that operating side is needed only to carry out one at this time
Secondary operation or holding ongoing operation, are pressed when needing operating side to carry out once-through operation in Memory Process when suitable
Then function control button 8 presses Memory control button 10 again, mechanical arm just moves back and forth at this time, in entire reciprocal fortune
During dynamic, operating side can be primary in sometime operation, is pressed when suitable when needing operating side to carry out ongoing operation
Dynamic function continue working button 9, then presses Memory control button 10, mechanical arm just moves back and forth at this time, entire again
In reciprocatory movement, operating side is always maintained at mode of operation；To stop the working in reciprocating mode state of mechanical arm, then machinery is pressed
Arm start button.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. the control system of the automobile with mechanical arm, it is characterised in that：Control including mechanical arm, operating side, control machinery arm
Gloves, data processing centre and mechanical arm control centre processed, the data processing centre and mechanical arm control centre pass through circuit
Connection, the operating side is located at the end of mechanical arm；
The control gloves include palm portion (1), small arm section (2), big arm section (3) and fixed part, the control hand
Set is fixed on by fixed part on the person；It is equipped with mechanical arm start button (7) in the thumb set of the palm portion (1),
It is equipped with function control button (8) in index finger cover, function continue working button (9) is equipped in middle fingerstall, memory is equipped in nameless
Control button (10)；Center, small arm section (2), big arm section (3), palm portion (1) and the forearm of the palm portion (1)
Partly (2) junction, small arm section (2) and big arm section (3) junction and the junction of big arm section (3) and fixed part
It is equipped with the sensor (11) for monitoring arm motion information, the movable information includes human body palm, forearm, large arm, hand
The angular speed and acceleration of wrist, ancon and shoulder；The fixed part includes shoulder band (4) and prevents what mechanical arm from falling off to consolidate
Determine bandage (6)；
The mechanical arm start button (7) is used for the unlatching of control machinery arm；
The function control button (8) is used to control the single operation of operating side；
The function continue working button (9) is used to control the ongoing operation of operating side；Press for singular time function continue working by
When button (9), operating side continue working, mechanical arm simulates arm work；When function continue working button (9) is pressed in even numbers time, behaviour
Make end continue working, mechanical arm stops simulation arm work；
The Memory control button (10) is used to record the work of a period of mechanical arm and operating side and repeats the time
The work of section；Odd number presses work(Memory control button (10) and starts to record the work of mechanical arm and operating side, even numbers
The secondary work for pressing Memory control button (10) stop recording mechanical arm and operating side simultaneously carries out reciprocating operation to the work of record；
The mechanical arm start button (7), function control button (8), function continue working button (9), Memory control button
(10) it is connected with data processing centre with each sensor (11)；The data processing centre includes being opened for receiving mechanical arm
Dynamic button (7), function control button (8), function continue working button (9), the button information of Memory control button (10) and each
The information receiving unit for the movable information that a sensor (11) detects, for treatment button information and the information of movable information at
Reason unit and instruction morphing unit by treated information is converted into mechanical arm instruction, mechanical arm control centre receive instruction and turn
Change unit to control mechanical arm.
2. control system according to claim 1, it is characterised in that：The mechanical arm start button (7), function control are pressed
Button (8), function continue working button (9), Memory control button (10) and each sensor (11) are embedded in the interior of control gloves
Portion.
3. control system according to claim 2, it is characterised in that：The mechanical arm start button (7), function control are pressed
Button (8), function continue working button (9), Memory control button (10) and each sensor (11) with information receiving unit without
Line connects.
4. control system according to claim 3, it is characterised in that：The shoulder band (4) be equipped with accumulator (5) and
Charging interface for giving accumulator (5) to charge；The mechanical arm start button (7), function control button (8), function are lasting
Play button (9), Memory control button (10) and each sensor (11) are connect with accumulator (5) by electric wire, the electricity
Inside the embedded control gloves of line.
5. control system according to claim 4, it is characterised in that：The fixed bandage (6) is equipped with solid for adjusting
Determine the adjusting buckle (6-1) of bandage (6) elasticity.
6. control system according to claim 5, it is characterised in that：The data processing centre and mechanical arm control centre
It is respectively positioned on automotive interior, the mechanical arm is fixed on automobile external.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810941001.4A CN108789454A (en) | 2018-08-17 | 2018-08-17 | The control system of automobile with mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810941001.4A CN108789454A (en) | 2018-08-17 | 2018-08-17 | The control system of automobile with mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108789454A true CN108789454A (en) | 2018-11-13 |
Family
ID=64080340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810941001.4A Withdrawn CN108789454A (en) | 2018-08-17 | 2018-08-17 | The control system of automobile with mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789454A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06262549A (en) * | 1993-03-04 | 1994-09-20 | Daum Gmbh | Manipulator for surgery |
| CN202137764U (en) * | 2011-06-08 | 2012-02-08 | 杨少毅 | Man-machine interactive glove |
| CN105223959A (en) * | 2015-09-28 | 2016-01-06 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of unmanned plane glove control system and control method |
| CN105690386A (en) * | 2016-03-23 | 2016-06-22 | 北京轩宇智能科技有限公司 | Teleoperation system and teleoperation method for novel mechanical arm |
| CN107168159A (en) * | 2017-05-24 | 2017-09-15 | 成都跟驰科技有限公司 | A kind of Intelligent glove for operation machinery |
| WO2017168186A1 (en) * | 2016-03-28 | 2017-10-05 | Quan Xiao | Methods and apparatus for "tangible gesture"and simulating /instruments that might require skills in finger movement/gesture and related training technology |
| WO2017192829A1 (en) * | 2016-05-04 | 2017-11-09 | Worcester Polytechnic Institute | Haptic gloves as a wearable force feedback user interface |
-
2018
- 2018-08-17 CN CN201810941001.4A patent/CN108789454A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06262549A (en) * | 1993-03-04 | 1994-09-20 | Daum Gmbh | Manipulator for surgery |
| CN202137764U (en) * | 2011-06-08 | 2012-02-08 | 杨少毅 | Man-machine interactive glove |
| CN105223959A (en) * | 2015-09-28 | 2016-01-06 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of unmanned plane glove control system and control method |
| CN105690386A (en) * | 2016-03-23 | 2016-06-22 | 北京轩宇智能科技有限公司 | Teleoperation system and teleoperation method for novel mechanical arm |
| WO2017168186A1 (en) * | 2016-03-28 | 2017-10-05 | Quan Xiao | Methods and apparatus for "tangible gesture"and simulating /instruments that might require skills in finger movement/gesture and related training technology |
| WO2017192829A1 (en) * | 2016-05-04 | 2017-11-09 | Worcester Polytechnic Institute | Haptic gloves as a wearable force feedback user interface |
| CN107168159A (en) * | 2017-05-24 | 2017-09-15 | 成都跟驰科技有限公司 | A kind of Intelligent glove for operation machinery |
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| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181113 |
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| WW01 | Invention patent application withdrawn after publication |